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fixed double compression of user_data

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This commit is contained in:
matlabbe
2026-09-26 14:03:35 -07:00
parent 49108d9f80
commit e107b6bc8e
4 changed files with 52 additions and 6 deletions
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corelib/test/test_memory.cpp
+8 -4
View File
@@ -3167,11 +3167,11 @@ TEST(MemoryTest, UpdateKeepsUserDataThatArrivesCompressed)
}
}
TEST(MemoryTest, UpdateReusesTheGivenCompressedScanUnlessItFiltersIt)
TEST(MemoryTest, UpdateReusesTheGivenCompressedData)
{
// A scan given both raw and compressed is not compressed again: the compressed copy
// given is stored as is, sharing its buffer -- but only while Memory has not filtered
// the scan, since a filtered scan no longer matches the compressed one given.
// Data given both raw and compressed is not compressed again: the compressed copy
// given is stored as is, sharing its buffer. For the scan, only while Memory has not
// filtered it, since a filtered scan no longer matches the compressed one given.
cv::Mat points(1, 10, CV_32FC3);
for(int i = 0; i < points.cols; ++i)
{
@@ -3196,6 +3196,8 @@ TEST(MemoryTest, UpdateReusesTheGivenCompressedScanUnlessItFiltersIt)
const LaserScan compressedScan(compressData2(points), points.cols, 10.0f, LaserScan::kXYZ);
data.setLaserScan(compressedScan);
data.setLaserScan(LaserScan(points, points.cols, 10.0f, LaserScan::kXYZ), false);
data.setUserData(points.t()); // raw, several rows: compressed by setUserData()
ASSERT_FALSE(data.userDataCompressed().empty());
ASSERT_FALSE(data.laserScanRaw().isEmpty());
ASSERT_FALSE(data.laserScanCompressed().isEmpty());
@@ -3203,6 +3205,8 @@ TEST(MemoryTest, UpdateReusesTheGivenCompressedScanUnlessItFiltersIt)
const Signature * s = memory.getSignature(memory.getLastSignatureId());
ASSERT_NE(s, nullptr);
EXPECT_EQ(s->sensorData().userDataCompressed().data, data.userDataCompressed().data);
const LaserScan & stored = s->sensorData().laserScanCompressed();
ASSERT_FALSE(stored.isEmpty());
if(std::string(downsample) == "1")
corelib/test/test_sensordata.cpp
+38
View File
@@ -1,3 +1,4 @@
#include <rtabmap/core/Compression.h>
#include <gtest/gtest.h>
#include <rtabmap/core/SensorData.h>
#include <rtabmap/core/CameraModel.h>
@@ -595,6 +596,43 @@ TEST(SensorDataTest, SetUserData)
EXPECT_EQ(data.userDataRaw().cols, 100);
}
TEST(SensorDataTest, SetUserDataCompressesRawData)
{
SensorData data;
const cv::Mat userData = (cv::Mat_<float>(1, 4) << 1.0f, 2.0f, 3.0f, 4.0f);
data.setUserData(userData);
ASSERT_FALSE(data.userDataCompressed().empty());
EXPECT_EQ(0.0, cv::norm(uncompressData(data.userDataCompressed()), userData, cv::NORM_INF));
}
// Without clearing, the raw data of compressed user data already set is added to it:
// the compressed copy is kept rather than compressed again, as setLaserScan() and
// setRGBDImage() do. With nothing compressed yet, the raw data is still compressed.
TEST(SensorDataTest, SetUserDataWithoutClearingKeepsTheCompressedCopy)
{
const cv::Mat userData = (cv::Mat_<float>(1, 4) << 1.0f, 2.0f, 3.0f, 4.0f);
const cv::Mat compressed = compressData2(userData);
SensorData data;
data.setUserData(compressed);
ASSERT_TRUE(data.userDataRaw().empty());
data.setUserData(userData, false);
EXPECT_EQ(data.userDataRaw().data, userData.data);
EXPECT_EQ(data.userDataCompressed().data, compressed.data);
SensorData fresh;
fresh.setUserData(userData, false);
ASSERT_FALSE(fresh.userDataCompressed().empty());
EXPECT_EQ(0.0, cv::norm(uncompressData(fresh.userDataCompressed()), userData, cv::NORM_INF));
// Clearing, the default, compresses the new data again.
data.setUserData(userData);
EXPECT_NE(data.userDataCompressed().data, compressed.data);
EXPECT_EQ(0.0, cv::norm(uncompressData(data.userDataCompressed()), userData, cv::NORM_INF));
}
// Occupancy Grid Tests
TEST(SensorDataTest, SetOccupancyGrid)